In this section, we analyze how navigation performance changes with respect to batch size. To this end, MPC that uses our optimizer with batch size one will be referred to as the baseline MPC. This is because it resembles how a typical MPC works where only a single locally optimal trajectory is computed at each control loop. In principle, any off-the-shelf MPC can be used here. We tried using ACADO [1]} but we could not achieve reliable and real-time performance with 30 obstacles.
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